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<a href="_p_i_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">/*</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">*                                             INCLUDE FILES</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">*/</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;main.h&quot;</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">/*</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">*                                             EXPORTED_TYPES</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment">*/</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="struct_p_i_d_type.html">   30</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <span class="keywordtype">float</span> KP;</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <span class="keywordtype">float</span> KI;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  <span class="keywordtype">float</span> KD;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <span class="keywordtype">float</span> PreErr;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <span class="keywordtype">float</span> LastErr;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  <span class="keywordtype">float</span> delErr;       <span class="comment">// error tolerance</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="keywordtype">float</span> KIlimit;      <span class="comment">// intergral limit</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  <span class="keywordtype">float</span> SumErr;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>}<a class="code hl_struct" href="struct_p_i_d_type.html">PIDType</a>;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="comment">/*</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">*                                           FUNCTION PROTOTYPES</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">*********************************************************************************************************</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">*/</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keywordtype">float</span> <a class="code hl_function" href="_p_i_d_8h.html#ae7af70aae342244ae4d41a8ffd1f288c">PIDCal</a>( <a class="code hl_struct" href="struct_p_i_d_type.html">PIDType</a> *PIDptr, <span class="keywordtype">float</span> ThisError );</div>
<div class="ttc" id="a_p_i_d_8h_html_ae7af70aae342244ae4d41a8ffd1f288c"><div class="ttname"><a href="_p_i_d_8h.html#ae7af70aae342244ae4d41a8ffd1f288c">PIDCal</a></div><div class="ttdeci">float PIDCal(PIDType *PIDptr, float ThisError)</div><div class="ttdoc">增量式PID</div><div class="ttdef"><b>Definition</b> <a href="_p_i_d_8c_source.html#l00036">PID.c:36</a></div></div>
<div class="ttc" id="astruct_p_i_d_type_html"><div class="ttname"><a href="struct_p_i_d_type.html">PIDType</a></div><div class="ttdoc">PID参数结构体</div><div class="ttdef"><b>Definition</b> <a href="_p_i_d_8h_source.html#l00030">PID.h:31</a></div></div>
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